Robot Arm Inclinometer Horizontal Alignment
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Solution Overview
Problem
Existing robot control methods fail to maintain a horizontal work surface during operations, leading to errors when the work surface inclines, resulting in incomplete or inaccurate work.
Innovation Solution
Incorporating a first inclinometer in the robot's arm or grasping unit to measure angles and adjust operations based on these measurements, ensuring the work surface remains horizontal by using a reference surface and force detection for precise surface contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the arm is operated in a horizontal direction using an inclinometer, then the arm can be moved horizontally with respect to the plane perpendicular to gravity direction, but the flat work surface cannot be caused to be horizontal with respect to the plane perpendicular to gravity direction, resulting in work errors
Solution Approach 1:
The patent introduces a reference surface as an intermediary element between the inclinometer and the work surface. The reference surface is placed on the workpiece and serves as a mediator to transfer the horizontal alignment requirement from the arm movement to the work surface, enabling both arm horizontal operation and work surface horizontal alignment to be achieved simultaneously
Solution Approach 2:
The patent adds a new dimensional reference system by introducing the reference surface with its own coordinate system. This allows the system to define horizontal alignment in terms of the reference surface's orientation rather than the absolute gravity-perpendicular plane, resolving the contradiction between arm movement horizontality and work surface horizontality
2Manufacturing precision
If a reference surface is introduced to measure the first angle, then the work surface can be aligned horizontally, but the device complexity increases
Solution Approach 1:
The reference surface is designed to be self-aligning through force detection. The system uses a force detector to monitor when the reference surface naturally aligns with the horizontal plane under gravity, eliminating the need for complex active alignment mechanisms. The reference surface serves itself by using gravitational force as the alignment mechanism
Solution Approach 2:
The patent replaces complex mechanical alignment systems with a sensor-based detection system. Instead of using mechanical guides or adjustment mechanisms to ensure horizontal alignment, the system uses an inclinometer and force detector to sense the orientation and automatically compensate, substituting mechanical complexity with sensing and control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution allows the robot to accurately perform operations on inclined work surfaces by continuously adjusting its position to maintain horizontal alignment, preventing errors and ensuring precise workpiece processing.
Implementation Method 1
a first angle measuring unit (first inclinometer) that measures a first angle of a reference surface and a second angle
Data Source
AI summary
A robot includes an arm. A first inclinometer is provided in a grasping unit provided in the arm or an object grasped by the grasping unit. The arm is operated based on a first angle of a reference surface and a second angle measured by the first inclinometer.